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TBB deprecation fix (partial) #209

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merged 11 commits into from
May 6, 2020
Merged

TBB deprecation fix (partial) #209

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98a9022
remove execution file mode
acxz Jan 11, 2020
eb85762
change from deprecated tbb::mutex to std::mutex
acxz Jan 11, 2020
b2e9331
remove unnecessary tbb task_scheduler_init
acxz Jan 11, 2020
1483df7
add TBB guards back for multithread option and potentially breaking c…
acxz Jan 11, 2020
af5d222
remove deprecated tbb_exception in favor of std_exception
acxz Jan 11, 2020
aff24bd
remove tbb.h include and specify individual includes needed
acxz Jan 11, 2020
bfc32e9
add deprecated task_scheduler_init until alternative is found
acxz Jan 13, 2020
8096b0e
add deprecated task_scheduler_init unitl alternative is found
acxz Mar 16, 2020
b4b4876
replace task_scheduler_init with task arena/group
acxz Apr 12, 2020
df9cf86
replace task_scheduler_init with task arena/group
acxz Apr 13, 2020
e0cbc76
change to more efficient call of threaded functions
acxz May 6, 2020
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16 changes: 4 additions & 12 deletions gtsam/base/debug.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,31 +19,23 @@
#include <gtsam/base/debug.h>
#include <gtsam/config.h> // for GTSAM_USE_TBB

#ifdef GTSAM_USE_TBB
#include <tbb/mutex.h>
#endif
#include <mutex> // std::mutex, std::unique_lock

namespace gtsam {

GTSAM_EXPORT FastMap<std::string, ValueWithDefault<bool, false> > debugFlags;

#ifdef GTSAM_USE_TBB
tbb::mutex debugFlagsMutex;
#endif
std::mutex debugFlagsMutex;

/* ************************************************************************* */
bool guardedIsDebug(const std::string& s) {
#ifdef GTSAM_USE_TBB
tbb::mutex::scoped_lock lock(debugFlagsMutex);
#endif
std::unique_lock<std::mutex> lock(debugFlagsMutex);
return gtsam::debugFlags[s];
}

/* ************************************************************************* */
void guardedSetDebug(const std::string& s, const bool v) {
#ifdef GTSAM_USE_TBB
tbb::mutex::scoped_lock lock(debugFlagsMutex);
#endif
std::unique_lock<std::mutex> lock(debugFlagsMutex);
gtsam::debugFlags[s] = v;
}

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1 change: 0 additions & 1 deletion gtsam/base/types.h
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Expand Up @@ -28,7 +28,6 @@
#include <cstdint>

#ifdef GTSAM_USE_TBB
#include <tbb/task_scheduler_init.h>
#include <tbb/tbb_exception.h>
#include <tbb/scalable_allocator.h>
#endif
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4 changes: 1 addition & 3 deletions gtsam/geometry/Unit3.cpp
100755 → 100644
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Expand Up @@ -80,12 +80,10 @@ static Point3 CalculateBestAxis(const Point3& n) {

/* ************************************************************************* */
const Matrix32& Unit3::basis(OptionalJacobian<6, 2> H) const {
#ifdef GTSAM_USE_TBB
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I would consider leaving these #ifdef GTSAM_USE_TBB guards in place. They have the benefit of making single-threaded builds (without TBB) completely mutex-free.

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hmm, I see, yeah that would be useful. But I don't like keeping the TBB name since it is not a TBB function/class. Maybe renaming the guard to GTSAM_MULTITHREADED would be more accurate?

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I agree it would be more accurate, but let's keep that change until TBB is not the only way to do multi-threading. A change like this has the potential to break some setups of users in ways we can't anticipate. Better to do this as part of a version bump with release docs - I propose this (awesome!) PR should simply addresses the warnings.

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Okay I'll add the guards back, but I really hope we don't forget. Maybe we can keep an issue and PR open specifically for this until we decide to add it in.

// NOTE(hayk): At some point it seemed like this reproducably resulted in
// deadlock. However, I don't know why and I can no longer reproduce it.
// It either was a red herring or there is still a latent bug left to debug.
tbb::mutex::scoped_lock lock(B_mutex_);
#endif
std::unique_lock<std::mutex> lock(B_mutex_);

const bool cachedBasis = static_cast<bool>(B_);
const bool cachedJacobian = static_cast<bool>(H_B_);
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8 changes: 2 additions & 6 deletions gtsam/geometry/Unit3.h
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Expand Up @@ -32,9 +32,7 @@

#include <string>

#ifdef GTSAM_USE_TBB
#include <tbb/mutex.h>
#endif
#include <mutex> // std::mutex

namespace gtsam {

Expand All @@ -47,9 +45,7 @@ class Unit3 {
mutable boost::optional<Matrix32> B_; ///< Cached basis
mutable boost::optional<Matrix62> H_B_; ///< Cached basis derivative

#ifdef GTSAM_USE_TBB
mutable tbb::mutex B_mutex_; ///< Mutex to protect the cached basis.
#endif
mutable std::mutex B_mutex_; ///< Mutex to protect the cached basis.

public:

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